Scaling of Constraints and Augmented Lagrangian Formulations in Multibody Dynamics Simulations

2009 ◽  
Vol 4 (2) ◽  
Author(s):  
Olivier A. Bauchau ◽  
Alexander Epple ◽  
Carlo L. Bottasso
Keyword(s):  
Physical Properties ◽  
Augmented Lagrangian ◽  
Equations Of Motion ◽  
Time Integration ◽  
Differential Algebraic Equations ◽  
Algebraic Equations ◽  
Step Size ◽  
Time Step ◽  
Time Step Size ◽  
Integration Schemes

This paper addresses practical issues associated with the numerical enforcement of constraints in flexible multibody systems, which are characterized by index-3 differential algebraic equations (DAEs). The need to scale the equations of motion is emphasized; in the proposed approach, they are scaled based on simple physical arguments, and an augmented Lagrangian term is added to the formulation. Time discretization followed by a linearization of the resulting equations leads to a Jacobian matrix that is independent of the time step size, h; hence, the condition number of the Jacobian and error propagation are both O(h0): the numerical solution of index-3 DAEs behaves as in the case of regular ordinary differential equations (ODEs). Since the scaling factor depends on the physical properties of the system, the proposed scaling decreases the dependency of this Jacobian on physical properties, further improving the numerical conditioning of the resulting linearized equations. Because the scaling of the equations is performed before the time and space discretizations, its benefits are reaped for all time integration schemes. The augmented Lagrangian term is shown to be indispensable if the solution of the linearized system of equations is to be performed without pivoting, a requirement for the efficient solution of the sparse system of linear equations. Finally, a number of numerical examples demonstrate the efficiency of the proposed approach to scaling.

Modeling the damped dynamic behavior of a flexible pendulum

2019 ◽  
Vol 54 (2) ◽  
pp. 116-129 ◽  
Author(s):  
Roberto Ortega ◽  
Geraldine Farías ◽  
Marcela Cruchaga ◽  
Matías Rivero ◽  
Mariano Vázquez ◽  
...  
Keyword(s):  
High Speed ◽  
Time Integration ◽  
Integration Scheme ◽  
Step Size ◽  
Time Step ◽  
Time Step Size ◽  
Rayleigh Damping ◽  
Integration Schemes ◽  
Time Integration Schemes ◽  
Damping Model

The focus of this work is on the computational modeling of a pendulum made of a hyperelastic material and the corresponding experimental validation with the aim of contributing to the study of a material commonly used in seismic absorber devices. From the proposed dynamics experiment, the motion of the pendulum is recorded using a high-speed camera. The evolution of the pendulum’s positions is recovered using a capturing motion technique by tracking markers. The simulation of the problem is developed in the framework of a parallel multi-physics code. Particular emphasis is placed on the analysis of the Newmark integration scheme and the use of Rayleigh damping model. In particular, the time step size effect is analyzed. A strong time step size dependency is obtained for dissipative time integration schemes, while the Rayleigh damping formulation without time integration dissipation shows time step–independent results when convergence is achieved.

scholarly journals Implementation of splitting methods for air pollution modeling

2011 ◽  
Vol 4 (4) ◽  
pp. 2937-2972 ◽  
Author(s):  
M. Schlegel ◽  
O. Knoth ◽  
M. Arnold ◽  
R. Wolke
Keyword(s):  
Time Integration ◽  
Atmospheric Modeling ◽  
Efficient Implementation ◽  
Splitting Methods ◽  
Step Size ◽  
Time Step ◽  
Worst Case ◽  
Time Step Size ◽  
Integration Schemes ◽  
Numerical Effort

Abstract. Explicit time integration methods are characterized by a small numerical effort per time step. In the application to multiscale problems in atmospheric modeling, this benefit is often more than compensated by stability problems and step size restrictions resulting from stiff chemical reaction terms and from a locally varying Courant-Friedrichs-Lewy (CFL) condition for the advection terms. Splitting methods may be applied to efficiently combine implicit and explicit methods (IMEX splitting). Complementarily multirate time integration schemes allow for a local adaptation of the time step size to the grid size. In combination these approaches lead to schemes which are efficient in terms of evaluations of the right hand side. Special challenges arise when these methods are to be implemented. For an efficient implementation it is crucial to locate and exploit redundancies. Furthermore the more complex program flow may lead to computational overhead which in the worst case more than compensates the theoretical gain in efficiency. We present a general splitting approach which allows both for IMEX splittings and for local time step adaptation. The main focus is on an efficient implementation of this approach for parallel computation on computer clusters.

A Strategy to Accelerate the Numerical Integration in the Dynamic Simulation of Multibody Systems

1997 ◽  
Author(s):  
Jesús Cardenal ◽  
Javier Cuadrado ◽  
Eduardo Bayo
Keyword(s):  
Multibody Systems ◽  
Equations Of Motion ◽  
Stiff Systems ◽  
Step Size ◽  
Step Method ◽  
Integral Of Motion ◽  
Time Step ◽  
Time Step Size ◽  
Variable Time ◽  
Numerical Integrator

Abstract This paper presents a multi-index variable time step method for the integration of the equations of motion of constrained multibody systems in descriptor form. The basis of the method is the augmented Lagrangian formulation with projections in index-3 and index-1. The method takes advantage of the better performance of the index-3 formulation for large time steps and of the stability of the index-1 for low time steps, and automatically switches from one method to the other depending on the required accuracy and values of the time step. The variable time stepping is accomplished through the use of an integral of motion, which in the case of conservative systems becomes the total energy. The error introduced by the numerical integrator in the integral of motion during consecutive time steps provides a good measure of the local integration error, and permits a simple and reliable strategy for varying the time step. Overall, the method is efficient and powerful; it is suitable for stiff and non-stiff systems, robust for all time step sizes, and it works for singular configurations, redundant constraints and topology changes. Also, the constraints in positions, velocities and accelerations are satisfied during the simulation process. The method is robust in the sense that becomes more accurate as the time step size decreases.

scholarly journals Studying Inertia Effects in Open Channel Flow Using Saint-Venant Equations

Water ◽  
2018 ◽  
Vol 10 (11) ◽  
pp. 1652
Author(s):  
Dong-Sin Shih ◽  
Gour-Tsyh Yeh
Keyword(s):  
Stokes Equations ◽  
Field Application ◽  
Benchmark Problems ◽  
Algebraic Equations ◽  
Step Size ◽  
Time Step ◽  
Cross Sectional ◽  
Inertia Effects ◽  
Time Step Size ◽  
Saint Venant Equations

One-dimensional (1D) Saint-Venant equations, which originated from the Navier–Stokes equations, are usually applied to express the transient stream flow. The governing equation is based on the mass continuity and momentum equivalence. Its momentum equation, partially comprising the inertia, pressure, gravity, and friction-induced momentum loss terms, can be expressed as kinematic wave (KIW), diffusion wave (DIW), and fully dynamic wave (DYW) flow. In this study, the method of characteristics (MOCs) is used for solving the diagonalized Saint-Venant equations. A computer model, CAMP1DF, including KIW, DIW, and DYW approximations, is developed. Benchmark problems from MacDonald et al. (1997) are examined to study the accuracy of the CAMP1DF model. The simulations revealed that CAMP1DF can simulate almost identical results that are valid for various fluvial conditions. The proposed scheme that not only allows a large time step size but also solves half of the simultaneous algebraic equations. Simulations of accuracy and efficiency are both improved. Based on the physical relevance, the simulations clearly showed that the DYW approximation has the best performance, whereas the KIW approximation results in the largest errors. Moreover, the field non-prismatic case of the Zhuoshui River in central Taiwan is studied. The simulations indicate that the DYW approach does not ensure achievement of a better simulation result than the other two approximations. The investigated cross-sectional geometries play an important role in stream routing. Because of the consideration of the acceleration terms, the simulated hydrograph of a DYW reveals more physical characteristics, particularly regarding the raising and recession of limbs. Note that the KIW does not require assignment of a downstream boundary condition, making it more convenient for field application.

Newmark-Beta Method in Discrete Elastic Rods Algorithm to Avoid Energy Dissipation

2019 ◽  
Vol 86 (8) ◽  
Author(s):  
Weicheng Huang ◽  
Mohammad Khalid Jawed
Keyword(s):  
Energy Dissipation ◽  
Time Integration ◽  
Integration Scheme ◽  
Integration Step ◽  
Elastic Rods ◽  
Computationally Efficient ◽  
Step Size ◽  
Time Step ◽  
Time Step Size ◽  
Time Integration Scheme

Discrete elastic rods (DER) algorithm presents a computationally efficient means of simulating the geometrically nonlinear dynamics of elastic rods. However, it can suffer from artificial energy loss during the time integration step. Our approach extends the existing DER technique by using a different time integration scheme—we consider a second-order, implicit Newmark-beta method to avoid energy dissipation. This treatment shows better convergence with time step size, specially when the damping forces are negligible and the structure undergoes vibratory motion. Two demonstrations—a cantilever beam and a helical rod hanging under gravity—are used to show the effectiveness of the modified discrete elastic rods simulator.

Application of Scaling to Multibody Dynamics Simulations

2015 ◽  
Author(s):  
William Prescott
Keyword(s):  
Equations Of Motion ◽  
Industrial Applications ◽  
Differential Algebraic Equations ◽  
Algebraic Equations ◽  
Step Size ◽  
Virtual Lab ◽  
Long Run ◽  
Multibody Dynamic ◽  
Dynamics Simulations ◽  
Stability Issues

This paper will examine the importance of applying scaling to the equations of motion for multibody dynamic systems when applied to industrial applications. If a Cartesian formulation is used to formulate the equations of motion of a multibody dynamic system the resulting equations are a set of differential algebraic equations (DAEs). The algebraic components of the DAEs arise from appending the joint equations used to model revolute, cylindrical, translational and other joints to the Newton-Euler dynamic equations of motion. Stability issues can arise in an ill-conditioned Jacobian matrix of the integration method this will result in poor convergence of the implicit integrator’s Newton method. The repeated failures of the Newton’s method will require a small step size and therefore simulations that require long run times to complete. Recent advances in rescaling the equations of motion have been proposed to address this problem. This paper will see if these methods or a variant addresses not only stability concerns, but also efficiency. The scaling techniques are applied to the Gear-Gupta-Leimkuhler (GGL) formulation for multibody problems by embedding them into the commercial multibody code (MBS) Virtual. Lab Motion and then use them to solve an industrial sized automotive example to see if performance is improved.

scholarly journals Accuracy Analysis of a Spectral Element Atmospheric Model Using a Fully Implicit Solution Framework

2010 ◽  
Vol 138 (8) ◽  
pp. 3333-3341 ◽  
Author(s):  
Katherine J. Evans ◽  
Mark A. Taylor ◽  
John B. Drake
Keyword(s):  
Shallow Water Equation ◽  
Time Integration ◽  
Atmospheric Model ◽  
Test Cases ◽  
Implicit Methods ◽  
Step Size ◽  
Time Step ◽  
Time Step Size ◽  
Fully Implicit ◽  
Stability Limits

Abstract A fully implicit (FI) time integration method has been implemented into a spectral finite-element shallow-water equation model on a sphere, and it is compared to existing fully explicit leapfrog and semi-implicit methods for a suite of test cases. This experiment is designed to determine the time step sizes that minimize simulation time while maintaining sufficient accuracy for these problems. For test cases without an analytical solution from which to compare, it is demonstrated that time step sizes 30–60 times larger than the gravity wave stability limits and 6–20 times larger than the advective-scale stability limits are possible using the FI method without a loss in accuracy, depending on the problem being solved. For a steady-state test case, the FI method produces error within machine accuracy limits as with existing methods, but using an arbitrarily large time step size.

Direct Numerical Simulation of the Interaction of an Ultra Short-Pulsed Intense Laser With a H2+ Molecule

2008 ◽  
Author(s):  
Y.-M. Lee ◽  
J.-S. Wu ◽  
T.-F. Jiang ◽  
Y.-S. Chen
Keyword(s):  
Domain Decomposition Method ◽  
Time Integration ◽  
Three Dimensional ◽  
Time Algorithm ◽  
Intense Laser ◽  
Angle Of Incidence ◽  
Step Size ◽  
Time Step ◽  
Time Step Size ◽  
H2 Molecule

In this paper, interactions of a linearly polarized ultra short-pulsed intense laser with a single H2+ molecule at various angles of incidence are studied by directly solving the time-dependent three-dimensional Schrodinger equation (TDSE), assuming Born-Oppenheimer approximation. An explicit stagger-time algorithm is employed for time integration of the TDSE, in which the real and imaginary parts of the wave function are defined at alternative times, while a cell-centered finite-volume method is utilized for spatial discretization of the TDSE on Cartesian grids. The TDSE solver is then parallelized using domain decomposition method on distributed memory machines by applying a multi-level graph-partitioning technique. The solver is applied to simulate laser-molecular interaction with test conditions including: laser intensity of 0.5*1014 W/cm2, wavelength of 800 nm, three pulses in time, angle of incidence of 0–90° and inter-nuclear distance of 2 a.u.. Simulation conditions include 4 million hexahedral cells, 90 a.u. long in z direction, and time-step size of 0.005 a.u.. Ionization rates, harmonic spectra and instantaneous distribution of electron densities are then obtained from the solution of the TDSE. Future possible extension of the present method is also outlined at the end of this paper.

scholarly journals A Lie group variational integration approach to the full discretization of a constrained geometrically exact Cosserat beam model

2021 ◽  
Author(s):  
Stefan Hante ◽  
Denise Tumiotto ◽  
Martin Arnold
Keyword(s):  
Lie Group ◽  
Group Structure ◽  
Equations Of Motion ◽  
Second Order ◽  
The Body ◽  
Benchmark Problems ◽  
Beam Model ◽  
Step Size ◽  
Time Step ◽  
Time Step Size

AbstractIn this paper, we will consider a geometrically exact Cosserat beam model taking into account the industrial challenges. The beam is represented by a framed curve, which we parametrize in the configuration space $\mathbb{S}^{3}\ltimes \mathbb{R}^{3}$ S 3 ⋉ R 3 with semi-direct product Lie group structure, where $\mathbb{S}^{3}$ S 3 is the set of unit quaternions. Velocities and angular velocities with respect to the body-fixed frame are given as the velocity vector of the configuration. We introduce internal constraints, where the rigid cross sections have to remain perpendicular to the center line to reduce the full Cosserat beam model to a Kirchhoff beam model. We derive the equations of motion by Hamilton’s principle with an augmented Lagrangian. In order to fully discretize the beam model in space and time, we only consider piecewise interpolated configurations in the variational principle. This leads, after approximating the action integral with second order, to the discrete equations of motion. Here, it is notable that we allow the Lagrange multipliers to be discontinuous in time in order to respect the derivatives of the constraint equations, also known as hidden constraints. In the last part, we will test our numerical scheme on two benchmark problems that show that there is no shear locking observable in the discretized beam model and that the errors are observed to decrease with second order with the spatial step size and the time step size.

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